This paper focuses on the analysis of running conditions and machining processes of conical cam with oscillating follower. We point out the common errors existing in the design and machining of the widely used plane e...This paper focuses on the analysis of running conditions and machining processes of conical cam with oscillating follower. We point out the common errors existing in the design and machining of the widely used plane expansion method of conical cam trough-out line. We show that the motion can be divided into two parts, i.e. the oscillating motion of oscillating bar and the rotary motion of oscillating bar relative to the conical cam. By increasing the rotary motion of oscillating bar, the motion path of tapered roller on oscillating bar (i.e. contour surface of conical cam) can be expanded on the cylinder. Based on these analyses, we present a creative and effective designing and machining method for 3D curve expansion of conical cam with oscillating follower.展开更多
A new kind of flexible pneumatic wall-climbing robot,named WALKMAN-I,was proposed. WALKMAN-I is basically composed of a flexible pneumatic actuator (FPA),a flexible pneumatic spherical joint and six suction cups. It h...A new kind of flexible pneumatic wall-climbing robot,named WALKMAN-I,was proposed. WALKMAN-I is basically composed of a flexible pneumatic actuator (FPA),a flexible pneumatic spherical joint and six suction cups. It has many characteristics of low-cost,lightweight,simple structure and good flexibility. Its operating principle was introduced. Then three basic locomotion modes,which are linear motion,curvilinear motion and crossing the orthogonal planes,were presented. The safety conditions of WALKMAN-I were discussed and built. Finally,the control system was designed and experiments were carried out. Experimental results show that WALKMAN-I is able to climb on the vertical wall surface along a straight line or a curved path,and has the ability of crossing orthogonal planes and obstacles. The maximum rotation angle reaches 90°,the maximum velocity reaches 5 mm/s,and the rotation angle and the moving velocity of WALKMAN-I can be easily controlled.展开更多
基金Project supported by the National Natural Science Foundation of China (No. 50575205)the HiTech Research and Development Program (863) of China (No. 2006AA04Z233)and the Natural Science Foundation of Zhejiang Province (Nos. Y104243 and Y105686), China
文摘This paper focuses on the analysis of running conditions and machining processes of conical cam with oscillating follower. We point out the common errors existing in the design and machining of the widely used plane expansion method of conical cam trough-out line. We show that the motion can be divided into two parts, i.e. the oscillating motion of oscillating bar and the rotary motion of oscillating bar relative to the conical cam. By increasing the rotary motion of oscillating bar, the motion path of tapered roller on oscillating bar (i.e. contour surface of conical cam) can be expanded on the cylinder. Based on these analyses, we present a creative and effective designing and machining method for 3D curve expansion of conical cam with oscillating follower.
基金Project (50575206) supported by the National Natural Science Foundation of ChinaProject (BX102716) supported by Xinmiao Program of Zhejiang Province, China
文摘A new kind of flexible pneumatic wall-climbing robot,named WALKMAN-I,was proposed. WALKMAN-I is basically composed of a flexible pneumatic actuator (FPA),a flexible pneumatic spherical joint and six suction cups. It has many characteristics of low-cost,lightweight,simple structure and good flexibility. Its operating principle was introduced. Then three basic locomotion modes,which are linear motion,curvilinear motion and crossing the orthogonal planes,were presented. The safety conditions of WALKMAN-I were discussed and built. Finally,the control system was designed and experiments were carried out. Experimental results show that WALKMAN-I is able to climb on the vertical wall surface along a straight line or a curved path,and has the ability of crossing orthogonal planes and obstacles. The maximum rotation angle reaches 90°,the maximum velocity reaches 5 mm/s,and the rotation angle and the moving velocity of WALKMAN-I can be easily controlled.
